Contents

Power On & Login

1. Position Robot into neutral sitting position, shown here (picture). Ensure main power switch is in off position.
2. Tethered power can be supplied to the robot via the included 12v 10amp power supply + Barrel Jack to Female Deans T-Connector adapter. The Female Deans T-Connector should connect to the Male Deans T-Connector Main Power input coming off the rear torso of the robot. (picture)
3. Connect HDMI Monitor to Mini-HDMI port on rear of the Intel NUC using supplied 'HDMI to Mini-HDMI' Cable.
4. Connect USB Keyboard & Mouse to 2x USB 3.0 Ports on the rear of the Intel NUC.
5. Connect Ethernet Cable to Gigabit Ethernet port on the rear of the Intel NUC. You will need to connect to an internet connected router with DHCP or static IPs assigned.
6. Flip the main power switch forward, to the on position.
7. Power on the Intel NUC using power button on Front-Right corner of board. This step may be skipped if NUC BIOS has power options configured correctly to Power-On automatically upon power input.
8. Ensure robot POSTs, boots into Ubuntu Desktop.

The dxl_monitor project is a diagnostic tool that allows us to scan the Subcontroller's Dynamixel TTL network and returns the results of the servo IDs found. It can also be used to modify servo properties stored in the register table.

The Makefile for dxl_monitor is found here:

/HROS5-Framework/Linux/project/dxl_monitor/

Change directory in Terminal to project folder:

$ cd /HROS5-Framework/Linux/project/dxl_monitor

Compile dxl_monitor:

$ sudo make

Ensure that no errors exit the compile process, and that the `dxl_monitor` program has been created inside the folder.

To run dxl_monitor:

$ sudo ./dxl_monitor

Perform a Dynamixel network scan:

> scan

This should return the 'OK' status of Servo IDs 1-20, and the Subcontroller ID of 200. If any of these show up as failed, please see Troubleshooting for assistance.

If you encounter an 'Failed to connect to CM730' error, please see Troubleshooting.

If all 20 servos show up on network scan as 'OK', your robot is properly recognizing all servos and should be ready for motion page playback testing. Type `exit` to exit program and return to Terminal prompt.

The project `rme` is an application that allows for the capture and playback of servo animations. Standing, Sitting, Walk Ready, Gestures & Animations are created within this program, and then the motion pages can be played back by calling the Action module functions within the Framework.

The Makefile for rme is found here:

/HROS5-Framework/Linux/project/rme/

Change directory in Terminal to project folder:

$ cd /HROS5-Framework/Linux/project/rme

Compile rme:

$ sudo make

Ensure that no errors exit the compile process, and that the `rme` program has been created inside the folder.

To run rme:

$ sudo ./rme

A terminal screen with a table of data will be drawn. The left-most columns show the servo IDs, and the STEP0